Getting Started with
NI SoftMotion™ for SolidWorks
This tutorial demonstrates how to set up and design motion simulations using NI SoftMotion
for SolidWorks. You will use the LabVIEW Project to connect to a preconfigured SolidWorks
motion study, create and configure NI SoftMotion axes for the motors in the SolidWorks
assembly, and use NI SoftMotion Express VIs to create a trajectory for the SolidWorks
simulation.
Tip If you encounter any problems, refer to the Tips and Troubleshooting section
for assistance.
This document covers how to use NI SoftMotion Express VIs with your existing SolidWorks
assemblies to create and evaluate motion profiles for your system. For information about using
SolidWorks refer to the SolidWorks documentation.
Contents
Required Components .............................................................................................................. 2
Required Software ............................................................................................................ 2
Optional Hardware and Software ..................................................................................... 2
Related Documentation .................................................................................................... 3
Overview of NI SoftMotion for SolidWorks............................................................................ 3
Step 1: Setting Up the LabVIEW Project ................................................................................. 5
Creating the LabVIEW Project File ................................................................................. 6
Adding the SolidWorks Assembly to the Project ............................................................. 6
Adding Axes to the Project............................................................................................... 8
Adding Coordinates to the Project.................................................................................... 9
Step 2: Configuring the Axes ................................................................................................... 12
Step 3: Creating a Motion Profile and Running the Simulation............................................... 13
Creating a Move Profile ................................................................................................... 13
Deploying, Running, and Stopping the Simulation.......................................................... 14
Step 4: Deploying to Hardware (Optional)............................................................................... 15
Tips and Troubleshooting ......................................................................................................... 17
Receive Error -77095........................................................................................................ 17
Simulation Appears Jittery ............................................................................................... 17
Worldwide Support and Services ............................................................................................. 18
Required Components
This section lists the software used in the tutorial. This section also lists documents you may find
helpful while completing the tutorial.
Required Software
The following software is required for this tutorial:

LabVIEW 2011 (32-bit) or later

LabVIEW NI SoftMotion Module Standard 2011 or later

SolidWorks 2009 Service Pack 2.1 or later and SolidWorks Motion Simulation with the
SolidWorks Motion add-in enabled from the Tools»Add-ins menu in SolidWorks. This is
included with SolidWorks Premium, Simulation Premium, or Simulation Professional.
When you enable the SolidWorks Motion add-in from the Add-Ins dialog
box in SolidWorks, place a checkmark in both the left and right checkboxes. This
automatically enables the SolidWorks Motion add-in when SolidWorks launches.
Tip
You can download a free trial of the required National Instruments software from ni.com/
labview/family.
Optional Hardware and Software
The following additional hardware and software is required to complete the Step 4: Deploying
to Hardware (Optional) section of this tutorial:


Software
–
LabVIEW Real-Time Module 2011 or later
–
NI-RIO 4.0.0 or later
Hardware
–
NI real-time controller
•
CompactRIO controller and chassis that support the RIO Scan Interface
Tip To determine if your controller and chassis support the RIO Scan Interface go
to ni.com/info and enter the Info Code rdsoftwareversion.
or
•
NI 9144 distributed chassis and compatible RT controller
–
Two NI 9512 single-axis stepper drive interface modules
–
Power supply for the controller
–
A separate power supply for the modules
–
Ethernet connection and cable
2 | ni.com | Getting Started with NI SoftMotion for SolidWorks
Tip Even if you do not have the hardware used in this tutorial, you can follow the
steps and perform offline configuration to learn concepts about using CompactRIO
with LabVIEW.
Related Documentation
The following documents contain information that you may find helpful as you read this tutorial:
•
Getting Started with NI 951x C Series Modules and LabVIEW—Use this document to learn
about using the NI 951x modules with LabVIEW, including information about the
LabVIEW NI SoftMotion Module. To access this document, select Start»All Programs»
National Instruments»LabVIEW»LabVIEW Manuals»Getting_Started_NI_951x_
Modules_LabVIEW.pdf.
•
LabVIEW NI SoftMotion Module Help—Use this help file to learn about using
NI SoftMotion in LabVIEW including information about NI SoftMotion VIs and functions
and using NI SoftMotion with the LabVIEW Project. To access this help file from
LabVIEW, select Help»LabVIEW Help, then expand the NI SoftMotion Module book on
the Contents tab.
•
LabVIEW Help—Use the LabVIEW Help to access information about LabVIEW
programming concepts, step-by-step instructions for using LabVIEW, and reference
information about LabVIEW VIs, functions, palettes, menus, tools, properties, methods,
events, dialog boxes, and so on. The LabVIEW Help also lists the LabVIEW documentation
resources available from National Instruments. Access the LabVIEW Help by selecting
Help»LabVIEW Help.
•
Getting Started with LabVIEW—Use this document as a tutorial to familiarize yourself
with the LabVIEW graphical programming environment and the basic LabVIEW features
you use to build data acquisition and instrument control applications. Access the Getting
Started with LabVIEW PDF by selecting Start»All Programs»National Instruments»
LabVIEW»LabVIEW Manuals»LV_Getting_Started.pdf.
•
SolidWorks Help
Note
Refer to the software documentation for installation information.
Overview of NI SoftMotion for SolidWorks
Using NI SoftMotion with SolidWorks to simulate your system with actual motion profiles
allows you to simulate mechanical dynamics, including mass and friction effects, cycle times,
and individual component performance before specifying a single physical part and connecting
it to an actual control algorithm. Digital prototyping offers the ability to visualize and optimize
the design and evaluate different design concepts before incurring the cost of physical
prototypes.
Integrating motion simulation with CAD simplifies design because the simulation uses
information that already exists in the CAD model, such as assembly mates, couplings, and
material mass properties. The NI SoftMotion Module provides easy to use APIs for
programming the motion control system for users with little or no motion control programming
experience.
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 3
Typical applications for the LabVIEW NI SoftMotion Module with NI SoftMotion for
SolidWorks include the following:
•
Motion trajectory design—You can build complex motion profiles containing a series
of sequential or concurrent move operations composed of multi-axis straight-line moves,
contoured moves, arc moves, and even complex moves using electronic gearing and
camming.
•
Visualization—By animating your 3D SolidWorks assembly using the motion control
profiles and timing/sequencing logic you have designed in LabVIEW, you can quickly
evaluate the feasibility of the overall conceptual design for your machine.
Visualizing the working machine as a virtual prototype helps to validate the overall
conceptual design for the machine very early in the development. This fosters better
communication with customers and between design team members and helps to close
the loop on the design requirements, must-have features, and engineering trade-offs.
•
Collision detection—The collision detection feature in SolidWorks enables you to validate
your motion profile designs using your actual 3D CAD model. You can check for
interferences, evaluate the need for interlock control logic to prevent collisions, optimize
your motion profiles to minimize unnecessary dead time, quickly evaluate what-if
scenarios, and safely test new control system logic without the risk of damaging your
physical machine. After your machine has been designed, prototyped and deployed to
the field, collision detection can also be used to validate new motion profiles before
downloading them to machines operating at your customer site, reducing the risk of
unplanned downtime due to programming mistakes.
•
Throughput time studies—By validating your motion system design using a simulation
that includes the actual motion profile constraints and the mechanical dynamics of your
machine such as mass and friction, you can accurately calculate an estimate for the cycle
time throughput of your machine.
•
Motor, drive, and transmission sizing—Motor torque and velocity requirements depend
on the acceleration characteristics of your motion profile and the mechanical dynamics of
the payload and transmission components such as lead screws. Using NI SoftMotion, you
can calculate the required motor torque and velocity charts for your motion profiles.
4 | ni.com | Getting Started with NI SoftMotion for SolidWorks
Figure 1 shows how the NI SoftMotion Module works with your SolidWorks assembly, and how
you can use the same APIs after simulation to deploy to hardware.
Figure 1. NI SoftMotion Module with SolidWorks and Hardware
LabVIEW Real-Time Module
Non Real-Time
Host HMI and
Axis Settings:
LabVIEW Project
NI SoftMotion
Motion Manager
Supervisory
Control
Trajectory
Generator
User VI
Axis
Interface
CompactRIO with
NI Scan Engine
NI SoftMotion
APIs
NI 951x cRIO Axis
Communication
Module
cRIO
Chassis
NI 951x
C Series
Module(s)
LabVIEW/
SolidWorks
Co-Simulation
EtherCAT Chassis with
NI Scan Engine
Motion Manager
Supervisory
Control
Trajectory
Generator
Axis
Data
SolidWorks Axis
Communication
Module
NI 951x EtherCAT
Axis Communication
Module
EtherCAT
C Series
Chassis
NI 951x
C Series
Module(s)
EtherCAT Drive with
NI Scan Engine
EtherCAT Drive
Communication
Module
EtherCAT Drive
SolidWorks
Assembly
Step 1: Setting Up the LabVIEW Project
Before you can start designing motion profiles for your SolidWorks simulation, you need to
import the information from your SolidWorks assembly into the LabVIEW Project and create
NI SoftMotion axes for the simulated motors included in your assembly.
Refer to the Working with SolidWorks Assemblies topic in the NI SoftMotion
Module book of the LabVIEW Help for a list of caveats and recommendations to
consider when creating and using SolidWorks assemblies with the NI SoftMotion
Module.
Tip
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 5
Creating the LabVIEW Project File
Complete the following steps to create the LabVIEW Project. Depending on which version of
LabVIEW you are using the steps are slightly different.
Creating a Project in LabVIEW 2012
1.
Launch LabVIEW.
2.
Select File»Create Project or Project»Create Project to display the Create Project
dialog box. You can also click the Create Project button on the Getting Started window.
The Create Project dialog box includes a list of templates and sample projects you can use
to ensure that the project you create uses reliable designs and programming practices.
3.
Select Blank Project from the list of templates.
4.
Click Finish.
5.
Select Help and make sure that Show Context Help is checked. You can refer to the
context help throughout the tutorial for information about items on the block diagram.
Creating a Project in LabVIEW 2011 SP1 or Earlier
1.
Launch LabVIEW.
2.
Select File»New Project or Project»New Project to display the Create Project dialog
box. You can also click the Empty Project link on the Getting Started window.
3.
Select Help and make sure that Show Context Help is checked. You can refer to the
context help throughout the tutorial for information about items on the block diagram.
Adding the SolidWorks Assembly to the Project
Complete the following steps to add the SolidWorks assembly to the LabVIEW Project:
1.
Launch SolidWorks and open the Sorting Machine.SLDASM file from the
<labview>\examples\motion\SolidWorks\SolidWorks Files directory. This
model simulates an assembly that takes test tubes from one location and moves them to
another.
Verify that the SolidWorks Motion add-in available from the Tools»Add-ins
menu in SolidWorks contains a checkmark in both the left and right checkboxes. This
automatically enables the SolidWorks Motion add-in when SolidWorks launches.
Note
This tutorial focuses on using an arc move to transport the test tubes to a rotary table. At
this point, the assembly and motion study must be ready to simulate with all the constraints
and motors properly configured. Refer to the SolidWorks Help for more information about
setting up a SolidWorks assembly.
Use the NI Example Finder, available in LabVIEW at Help»Find Examples to
find additional examples using NI SoftMotion for SolidWorks.
Tip
6 | ni.com | Getting Started with NI SoftMotion for SolidWorks
2.
Right-click My Computer in the Project Explorer window and select New»SolidWorks
Assembly from the shortcut menu to open the Import SolidWorks Motors from
Assembly File dialog box.
3.
Select the SolidWorks assembly to add to the LabVIEW project. If a SolidWorks assembly
is currently open, the Import SolidWorks Motors from Assembly File dialog box
contains the path of this assembly. Click Browse to select a different assembly file if
necessary.
4.
Click OK. The selected SolidWorks assembly is added to the Project Explorer window,
including all motors contained in the SolidWorks motion study.
Note If the SolidWorks assembly contains multiple motion studies, choose the
motion study to add to the project using the Select Motion Study dialog box. To
change the motion study used in the project after adding the assembly, right-click the
SolidWorks assembly item in the project tree and select Change Motion Study from
the shortcut menu.
The following figure shows the Project Explorer window with a SolidWorks assembly
added.
Figure 2. SolidWorks Assembly in the LabVIEW Project
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 7
5.
Right-click the SolidWorks assembly in the Project Explorer window and select
Properties from the shortcut menu to open the Assembly Properties dialog box. In the
Data Logging Properties section, specify a name for the log file and place a checkmark in
the Log Data checkbox. This will log position, velocity, acceleration, and torque data for
the simulation to the specified file name in LabVIEW Measurement (.lvm) format.
Note Each simulation overwrites the selected log file. To create a new log file for
the next simulation you must change the file name before starting the simulation.
Adding Axes to the Project
To simulate using the SolidWorks motors included in the model, you need to associate the
motors with NI SoftMotion axes. The NI SoftMotion axes are used when creating motion
profiles using NI SoftMotion VIs and functions. Complete the following steps to add
NI SoftMotion axes to the project:
1.
Right-click My Computer in the Project Explorer window and select New»
NI SoftMotion Axis from the shortcut menu to open the Axis Manager dialog box,
shown in Figure 3.
Figure 3. Axis Manager Dialog Box
2.
Select Add New Axis. The new axis automatically binds to an available SolidWorks motor.
Ensure that Axis 1 is associated with the X-Axis motor, and if it is not, double-click the
name in the Bound Hardware column and select the correct motor.
3.
Complete steps 1 through 2 for each additional axis. When you are finished, the Axis
Manager dialog box will look similar to Figure 3.
4.
(optional) Double-click the axis name to rename the axis and give it a descriptive name.
8 | ni.com | Getting Started with NI SoftMotion for SolidWorks
5.
Click OK. All axes are added to the Project Explorer window as shown in the following
figure.
Figure 4. Project Explorer Window with a SolidWorks Assembly and NI SoftMotion Axes
Adding Coordinates to the Project
NI SoftMotion axes can be grouped into coordinate spaces so that you can perform coordinated
moves using multiple axes simultaneously. The coordinate spaces are used as inputs to your
motion applications when performing coordinate moves. Complete the following steps to add
a coordinate space to the project:
1.
Right-click My Computer in the Project Explorer window and select New»
NI SoftMotion Coordinate Space from the shortcut menu to open the Configure
Coordinate Space dialog box, shown in Figure 5.
2.
Move Axis 1 and Axis 2 from the Available Axes column to the Coordinate Axes column
using the arrow. Double-click the coordinate space name to rename the coordinate space
and give it a descriptive name.
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 9
Figure 5. Configure Coordinate Space Dialog Box
Note When using coordinate resources, target position and other information is
contained in a one-dimensional array with axis information provided in the order that
axes are added using this dialog box. Refer to the NI SoftMotion Module book of the
LabVIEW Help for more information.
3.
Click OK to close the Configure Coordinate Space dialog box and add the new
coordinate space to the LabVIEW Project.
10 | ni.com | Getting Started with NI SoftMotion for SolidWorks
Your project is now set up with the axes and coordinate spaces you will use in the application.
Your LabVIEW project should look similar to Figure 6.
Figure 6. LabVIEW Project With NI SoftMotion Axes and Coordinates
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 11
Step 2: Configuring the Axes
Axes associated with SolidWorks motors are assumed to be servo motors. Since the axes are not
associated with actual hardware, you only need to perform minimal configuration to get started.
Once you set up your simulation, you can change configuration settings on the axes for easy
deployment to the final hardware using the profiles you create. Complete the following steps to
configure the axes for use in your simulation:
1.
Right-click the axis in the Project Explorer window and select Properties from the
shortcut menu to open the Axis Configuration dialog box. Figure 7 shows the parts
of the Axis Configuration dialog box for SolidWorks axes. Refer to the NI SoftMotion
Module book of the LabVIEW Help for detailed information about each configuration
option.
Figure 7. Axis Configuration Dialog Box for NI SoftMotion SolidWorks Axes
Note The Axis Configuration dialog box user interface may not match this image
exactly depending on which version of the LabVIEW NI SoftMotion Module you are
using.
2.
On the General Settings page (
) confirm that the Axis Enabled and Enable Drive on
Transition to Active Mode checkboxes contain checkmarks. This automatically activates
all axes when the NI Scan Engine switches to Active mode.
Tip
You can also use Power to activate and enable axes.
3.
Click OK to close the Axis Configuration dialog box.
4.
Complete steps 1 through 3 for each remaining axis.
12 | ni.com | Getting Started with NI SoftMotion for SolidWorks
Step 3: Creating a Motion Profile and Running
the Simulation
You create motion profiles for simulation with the SolidWorks assembly using the
NI SoftMotion VIs and function on the NI SoftMotion palette. The NI SoftMotion Module
offers Express VIs, properties and methods, and function blocks that allow you to perform
straight-line moves, arc moves, contoured moves, gearing and camming operations, and read
status and data information. Refer to the NI SoftMotion Module book of the LabVIEW Help for
more information about using the NI SoftMotion VIs and functions.
If you are new to LabVIEW, refer to Getting Started with LabVIEW, at Start»
All Programs»National Instruments»LabVIEW»LabVIEW Manuals, for more
information about creating, editing, and using LabVIEW VIs.
Note
Creating a Move Profile
This example uses an existing NI SoftMotion Arc Express VI example with an NI SoftMotion
coordinate resource to perform a circular arc move to deliver the test tube.
Tip The NI SoftMotion palette is not visible by default. Refer to the Showing and
Hiding Palette Categories topic in the LabVIEW Help for information about editing
the palette view to make the NI SoftMotion VIs and functions more accessible.
Complete the following steps to modify an existing example VI for your project:
1.
Right-click the My Computer project tree item and select Add»File from the shortcut
menu.
2.
Navigate to the <LabVIEW>\examples\motion\ExpressVIs\Circular Arc
Move folder and select the Circular Arc Move.vi file.
3.
Open the VI from the project.
4.
Navigate to the front panel and change the arc move parameters from the default values to
the following:
•
radius: 50
•
start angle: 180
•
travel angle: 180
5.
Keep the value for velocity at the default for now. You can change the velocity and run the
simulation again to see how changes to the move constraints impact the system.
6.
Save the VI.
7.
Save the project.
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 13
Figure 8 shows the Circular Arc Express VI example block diagram.
Figure 8. NI SoftMotion Circular Arc Express VI Example
1
2
3
1
2
3
Arc Move Express VI.
Read loop, for reporting axis status and data information.
Stop loop, to allow user to stop the move while in progress.
Deploying, Running, and Stopping the Simulation
Complete the following steps to deploy and run the VI and start the SolidWorks simulation:
1.
Right-click My Computer in the Project Explorer window and select Properties to
display the My Computer Properties dialog box.
2.
Select Scan Engine from the Category list and place a checkmark in the Start Scan
Engine on Deploy checkbox.
3.
Click OK to close the My Computer Properties dialog box.
4.
Select the axes and coordinate items in the Project Explorer window, right-click and select
Deploy from the shortcut menu. LabVIEW deploys all associated I/O resources and
settings the VI uses.
5.
Click Apply in the Conflict Resolution dialog box, if it appears.
6.
Right-click My Computer in the Project Explorer window and select Utilities»Scan
Engine Mode»Switch to Active to verify that the NI Scan Engine is in Active mode. If the
Switch to Active option is disabled in the shortcut menu the NI Scan Engine is already in
Active mode.
14 | ni.com | Getting Started with NI SoftMotion for SolidWorks
7.
Right-click the SolidWorks assembly and select Start Simulation to start the SolidWorks
simulation.
8.
Run the VI. LabVIEW acts on the SolidWorks assembly using the move profile you
created.
9.
Right-click the SolidWorks assembly in the Project Explorer window and select Stop
Simulation to stop the SolidWorks simulation.
10. Save the SolidWorks model, LabVIEW Project, and LabVIEW VI you created to apply any
changes made.
Step 4: Deploying to Hardware (Optional)
In this section you will deploy the code written using the SolidWorks assembly to a
CompactRIO system containing two NI 9512 C Series stepper drive interface modules.
Complete the following steps to run your simulation code on an actual hardware target:
Tip Refer to the Getting Started with NI 951x Modules and LabVIEW document,
installed at labview\manuals, for detailed instructions for steps 1 through 3.
1.
Add the RT target containing the NI 9512 C Series modules to the project.
2.
Create an NI SoftMotion axis for each module, then add them to a coordinate space.
Note You can also drag the axes created in the Adding Axes to the Project section
of this document under the RT target and remap them to the NI 9512 modules using
the Axis Manager dialog box. All configuration options you selected previously are
maintained.
3.
Configure the axes:
a.
Right-click the axis in the Project Explorer window and select Properties from the
shortcut menu to open the Axis Configuration dialog box.
b.
On the General Settings page (
), confirm that Loop Mode is set to Open-Loop.
Axes configured in open-loop mode produce step output but do not require feedback
from the motor to verify position.
c.
Also on the General Settings page, confirm that the Axis Enabled and Enable Drive
on Transition to Active Mode checkboxes contain checkmarks.
Note Disable these options to prevent axes from automatically activating when the
NI Scan Engine switches to Active mode.
d.
If the modules do not have physical limit and home input connections, you must
disable these input signals for proper system operation. To disable limits and home,
go to the Limits & Home page (
) and remove the checkmarks from the Enable
checkboxes in the Forward Limit, Reverse Limit, and Home Switch sections.
e.
Configure any additional I/O settings according to your system requirements.
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 15
Make sure that the units and scaling configured for Steps Per Unit on
the Stepper page (if applicable) and Counts Per Unit on the Encoder page match
your motion system requirements. Refer to the NI SoftMotion Module book of the
LabVIEW Help for more information.
Note
4.
f.
Click OK to close the Axis Configuration dialog box.
g.
Repeat steps a through f for Axis 2.
Drag the VI from under the SolidWorks assembly project item to the cRIO target and update
the resource associations to use the axes associated with the NI 9512 modules rather than
the SolidWorks motors.
Make sure all hardware connections are made and power is turned on
before deploying the project. Deployment switches the NI Scan Engine to Active
mode and enables your axes and drive, if connected, so that you can start a move
immediately. Refer to the Deploying and Running VIs on an RT Target topic in the
LabVIEW Help for more information about deployment and deployment
troubleshooting tips.
Caution
5.
Right-click the controller item in the Project Explorer window and select Deploy All from
the shortcut menu to deploy the axes, coordinate, and axis settings to the RT target.
6.
Run the VI. The VI and all associated resources are deployed to the hardware target.
16 | ni.com | Getting Started with NI SoftMotion for SolidWorks
Tips and Troubleshooting
Receive Error -77095
(NIMCDM_solidworksMotionStudyTypeNotSupportedError)
Verify that the SolidWorks Motion add-in is enabled from the Tools»Add-ins menu in
SolidWorks and that there is a checkmark in both the left and right checkboxes. This
automatically enables the SolidWorks Motion add-in when SolidWorks launches.
If the SolidWorks Motion add-in is already enabled, also verify that the motion study type is set
to Motion Analysis. Figure 9 shows the location of the motion study type dropdown list.
Figure 9. Motion Study Type Selection
Simulation Appears Jittery
During simulation, motion on the axes appears jittery. This is a normal result of the
memory-intensive simulation process and the fact that simulation time is not the same as actual
time. When the simulation is played back, the timing is reflective of real-world time and the jitter
disappears.
Getting Started with NI SoftMotion for SolidWorks | © National Instruments | 17
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